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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [PPC405_FPU_Xilinx_Virtex4_GCC/] [RTOSDemo/] [flop/] [flop.c] - Blame information for rev 586

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1 586 jeremybenn
/*
2
    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
3
 
4
    ***************************************************************************
5
    *                                                                         *
6
    * If you are:                                                             *
7
    *                                                                         *
8
    *    + New to FreeRTOS,                                                   *
9
    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
10
    *    + Looking for basic training,                                        *
11
    *    + Wanting to improve your FreeRTOS skills and productivity           *
12
    *                                                                         *
13
    * then take a look at the FreeRTOS books - available as PDF or paperback  *
14
    *                                                                         *
15
    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
16
    *                  http://www.FreeRTOS.org/Documentation                  *
17
    *                                                                         *
18
    * A pdf reference manual is also available.  Both are usually delivered   *
19
    * to your inbox within 20 minutes to two hours when purchased between 8am *
20
    * and 8pm GMT (although please allow up to 24 hours in case of            *
21
    * exceptional circumstances).  Thank you for your support!                *
22
    *                                                                         *
23
    ***************************************************************************
24
 
25
    This file is part of the FreeRTOS distribution.
26
 
27
    FreeRTOS is free software; you can redistribute it and/or modify it under
28
    the terms of the GNU General Public License (version 2) as published by the
29
    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
30
    ***NOTE*** The exception to the GPL is included to allow you to distribute
31
    a combined work that includes FreeRTOS without being obliged to provide the
32
    source code for proprietary components outside of the FreeRTOS kernel.
33
    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
34
    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
35
    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
36
    more details. You should have received a copy of the GNU General Public
37
    License and the FreeRTOS license exception along with FreeRTOS; if not it
38
    can be viewed here: http://www.freertos.org/a00114.html and also obtained
39
    by writing to Richard Barry, contact details for whom are available on the
40
    FreeRTOS WEB site.
41
 
42
    1 tab == 4 spaces!
43
 
44
    http://www.FreeRTOS.org - Documentation, latest information, license and
45
    contact details.
46
 
47
    http://www.SafeRTOS.com - A version that is certified for use in safety
48
    critical systems.
49
 
50
    http://www.OpenRTOS.com - Commercial support, development, porting,
51
    licensing and training services.
52
*/
53
 
54
/*
55
 * Creates eight tasks, each of which loops continuously performing a
56
 * floating point calculation.
57
 *
58
 * All the tasks run at the idle priority and never block or yield.  This causes
59
 * all eight tasks to time slice with the idle task.  Running at the idle priority
60
 * means that these tasks will get pre-empted any time another task is ready to run
61
 * or a time slice occurs.  More often than not the pre-emption will occur mid
62
 * calculation, creating a good test of the schedulers context switch mechanism - a
63
 * calculation producing an unexpected result could be a symptom of a corruption in
64
 * the context of a task.
65
 *
66
 * This file demonstrates the use of the task tag and traceTASK_SWITCHED_IN and
67
 * traceTASK_SWITCHED_OUT macros to save and restore the floating point context.
68
 */
69
 
70
#include <stdlib.h>
71
#include <math.h>
72
 
73
/* Scheduler include files. */
74
#include "FreeRTOS.h"
75
#include "task.h"
76
 
77
/* Demo program include files. */
78
#include "flop.h"
79
 
80
/* Misc. definitions. */
81
#define mathSTACK_SIZE          configMINIMAL_STACK_SIZE
82
#define mathNUMBER_OF_TASKS  ( 8 )
83
 
84
/* Four tasks, each of which performs a different floating point calculation.
85
Each of the four is created twice. */
86
static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
87
static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
88
static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
89
static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
90
 
91
/* These variables are used to check that all the tasks are still running.  If a
92
task gets a calculation wrong it will stop incrementing its check variable. */
93
static volatile unsigned portSHORT usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
94
 
95
/* Buffers into which the flop registers will be saved.  There is a buffer for
96
each task created within this file.  Zeroing out this array is the normal and
97
safe option as this will cause the task to start with all zeros in its flop
98
context. */
99
static unsigned portLONG ulFlopRegisters[ mathNUMBER_OF_TASKS ][ portNO_FLOP_REGISTERS_TO_SAVE ];
100
 
101
/*-----------------------------------------------------------*/
102
 
103
void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
104
{
105
xTaskHandle xTaskJustCreated;
106
portBASE_TYPE x, y;
107
 
108
        /* Place known values into the buffers into which the flop registers are
109
        to be saved.  This is for debug purposes only, it is not normally
110
        required.  The last position in each array is left at zero as the status
111
        register will be loaded from there.
112
 
113
        It is intended that these values can be viewed being loaded into the
114
        flop registers when a task is started - however the Insight debugger
115
        does not seem to want to show the flop register values. */
116
        for( x = 0; x < mathNUMBER_OF_TASKS; x++ )
117
        {
118
                for( y = 0; y < ( portNO_FLOP_REGISTERS_TO_SAVE - 1 ); y++ )
119
                {
120
                        ulFlopRegisters[ x ][ y ] = ( x + 1 );
121
                }
122
        }
123
 
124
        /* Create the first task - passing it the address of the check variable
125
        that it is going to increment.  This check variable is used as an
126
        indication that the task is still running. */
127
        xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xTaskJustCreated );
128
 
129
        /* The task     tag value is a value that can be associated with a task, but
130
        is not used by the scheduler itself.  Its use is down to the application so
131
        it makes a convenient place in this case to store the pointer to the buffer
132
        into which the flop context of the task will be stored.  The first created
133
        task uses ulFlopRegisters[ 0 ], the second ulFlopRegisters[ 1 ], etc. */
134
        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 0 ][ 0 ] ) );
135
 
136
        /* Create another 7 tasks, allocating a buffer for each. */
137
        xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, &xTaskJustCreated  );
138
        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 1 ][ 0 ] ) );
139
 
140
        xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, &xTaskJustCreated  );
141
        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 2 ][ 0 ] ) );
142
 
143
        xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, &xTaskJustCreated  );
144
        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 3 ][ 0 ] ) );
145
 
146
        xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, &xTaskJustCreated  );
147
        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 4 ][ 0 ] ) );
148
 
149
        xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, &xTaskJustCreated  );
150
        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 5 ][ 0 ] ) );
151
 
152
        xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, &xTaskJustCreated  );
153
        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 6 ][ 0 ] ) );
154
 
155
        xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, &xTaskJustCreated  );
156
        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 7 ][ 0 ] ) );
157
}
158
/*-----------------------------------------------------------*/
159
 
160
static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
161
{
162
volatile portFLOAT ff1, ff2, ff3, ff4;
163
volatile unsigned portSHORT *pusTaskCheckVariable;
164
volatile portFLOAT fAnswer;
165
portSHORT sError = pdFALSE;
166
 
167
        ff1 = 123.4567F;
168
        ff2 = 2345.6789F;
169
        ff3 = -918.222F;
170
 
171
        fAnswer = ( ff1 + ff2 ) * ff3;
172
 
173
        /* The variable this task increments to show it is still running is passed in
174
        as the parameter. */
175
        pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
176
 
177
        /* Keep performing a calculation and checking the result against a constant. */
178
        for(;;)
179
        {
180
                ff1 = 123.4567F;
181
                ff2 = 2345.6789F;
182
                ff3 = -918.222F;
183
 
184
                ff4 = ( ff1 + ff2 ) * ff3;
185
 
186
                #if configUSE_PREEMPTION == 0
187
                        taskYIELD();
188
                #endif
189
 
190
                /* If the calculation does not match the expected constant, stop the
191
                increment of the check variable. */
192
                if( fabs( ff4 - fAnswer ) > 0.001F )
193
                {
194
                        sError = pdTRUE;
195
                }
196
 
197
                if( sError == pdFALSE )
198
                {
199
                        /* If the calculation has always been correct, increment the check
200
                        variable so we know this task is still running okay. */
201
                        ( *pusTaskCheckVariable )++;
202
                }
203
 
204
                #if configUSE_PREEMPTION == 0
205
                        taskYIELD();
206
                #endif
207
 
208
        }
209
}
210
/*-----------------------------------------------------------*/
211
 
212
static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
213
{
214
volatile portFLOAT ff1, ff2, ff3, ff4;
215
volatile unsigned portSHORT *pusTaskCheckVariable;
216
volatile portFLOAT fAnswer;
217
portSHORT sError = pdFALSE;
218
 
219
        ff1 = -389.38F;
220
        ff2 = 32498.2F;
221
        ff3 = -2.0001F;
222
 
223
        fAnswer = ( ff1 / ff2 ) * ff3;
224
 
225
 
226
        /* The variable this task increments to show it is still running is passed in
227
        as the parameter. */
228
        pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
229
 
230
        /* Keep performing a calculation and checking the result against a constant. */
231
        for( ;; )
232
        {
233
                ff1 = -389.38F;
234
                ff2 = 32498.2F;
235
                ff3 = -2.0001F;
236
 
237
                ff4 = ( ff1 / ff2 ) * ff3;
238
 
239
                #if configUSE_PREEMPTION == 0
240
                        taskYIELD();
241
                #endif
242
 
243
                /* If the calculation does not match the expected constant, stop the
244
                increment of the check variable. */
245
                if( fabs( ff4 - fAnswer ) > 0.001F )
246
                {
247
                        sError = pdTRUE;
248
                }
249
 
250
                if( sError == pdFALSE )
251
                {
252
                        /* If the calculation has always been correct, increment the check
253
                        variable so we know
254
                        this task is still running okay. */
255
                        ( *pusTaskCheckVariable )++;
256
                }
257
 
258
                #if configUSE_PREEMPTION == 0
259
                        taskYIELD();
260
                #endif
261
        }
262
}
263
/*-----------------------------------------------------------*/
264
 
265
static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
266
{
267
volatile portFLOAT *pfArray, fTotal1, fTotal2, fDifference;
268
volatile unsigned portSHORT *pusTaskCheckVariable;
269
const size_t xArraySize = 10;
270
size_t xPosition;
271
portSHORT sError = pdFALSE;
272
 
273
        /* The variable this task increments to show it is still running is passed in
274
        as the parameter. */
275
        pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
276
 
277
        pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );
278
 
279
        /* Keep filling an array, keeping a running total of the values placed in the
280
        array.  Then run through the array adding up all the values.  If the two totals
281
        do not match, stop the check variable from incrementing. */
282
        for( ;; )
283
        {
284
                fTotal1 = 0.0F;
285
                fTotal2 = 0.0F;
286
 
287
                for( xPosition = 0; xPosition < xArraySize; xPosition++ )
288
                {
289
                        pfArray[ xPosition ] = ( portFLOAT ) xPosition + 5.5F;
290
                        fTotal1 += ( portFLOAT ) xPosition + 5.5F;
291
                }
292
 
293
                #if configUSE_PREEMPTION == 0
294
                        taskYIELD();
295
                #endif
296
 
297
                for( xPosition = 0; xPosition < xArraySize; xPosition++ )
298
                {
299
                        fTotal2 += pfArray[ xPosition ];
300
                }
301
 
302
                fDifference = fTotal1 - fTotal2;
303
                if( fabs( fDifference ) > 0.001F )
304
                {
305
                        sError = pdTRUE;
306
                }
307
 
308
                #if configUSE_PREEMPTION == 0
309
                        taskYIELD();
310
                #endif
311
 
312
                if( sError == pdFALSE )
313
                {
314
                        /* If the calculation has always been correct, increment the check
315
                        variable so we know     this task is still running okay. */
316
                        ( *pusTaskCheckVariable )++;
317
                }
318
        }
319
}
320
/*-----------------------------------------------------------*/
321
 
322
static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
323
{
324
volatile portFLOAT *pfArray, fTotal1, fTotal2, fDifference;
325
volatile unsigned portSHORT *pusTaskCheckVariable;
326
const size_t xArraySize = 10;
327
size_t xPosition;
328
portSHORT sError = pdFALSE;
329
 
330
        /* The variable this task increments to show it is still running is passed in
331
        as the parameter. */
332
        pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
333
 
334
        pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );
335
 
336
        /* Keep filling an array, keeping a running total of the values placed in the
337
        array.  Then run through the array adding up all the values.  If the two totals
338
        do not match, stop the check variable from incrementing. */
339
        for( ;; )
340
        {
341
                fTotal1 = 0.0F;
342
                fTotal2 = 0.0F;
343
 
344
                for( xPosition = 0; xPosition < xArraySize; xPosition++ )
345
                {
346
                        pfArray[ xPosition ] = ( portFLOAT ) xPosition * 12.123F;
347
                        fTotal1 += ( portFLOAT ) xPosition * 12.123F;
348
                }
349
 
350
                #if configUSE_PREEMPTION == 0
351
                        taskYIELD();
352
                #endif
353
 
354
                for( xPosition = 0; xPosition < xArraySize; xPosition++ )
355
                {
356
                        fTotal2 += pfArray[ xPosition ];
357
                }
358
 
359
                fDifference = fTotal1 - fTotal2;
360
                if( fabs( fDifference ) > 0.001F )
361
                {
362
                        sError = pdTRUE;
363
                }
364
 
365
                #if configUSE_PREEMPTION == 0
366
                        taskYIELD();
367
                #endif
368
 
369
                if( sError == pdFALSE )
370
                {
371
                        /* If the calculation has always been correct, increment the check
372
                        variable so we know     this task is still running okay. */
373
                        ( *pusTaskCheckVariable )++;
374
                }
375
        }
376
}
377
/*-----------------------------------------------------------*/
378
 
379
/* This is called to check that all the created tasks are still running. */
380
portBASE_TYPE xAreMathsTaskStillRunning( void )
381
{
382
/* Keep a history of the check variables so we know if they have been incremented
383
since the last call. */
384
static unsigned portSHORT usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
385
portBASE_TYPE xReturn = pdTRUE, xTask;
386
 
387
        /* Check the maths tasks are still running by ensuring their check variables
388
        are still incrementing. */
389
        for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
390
        {
391
                if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
392
                {
393
                        /* The check has not incremented so an error exists. */
394
                        xReturn = pdFALSE;
395
                }
396
 
397
                usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
398
        }
399
 
400
        return xReturn;
401
}
402
 
403
 
404
 

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